K.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-71444420160301Soft Tissue Modeling Using ANFIS for Training Diagnosis of Breast Cancer in Haptic Simulator657243094ENSaeed AmirkhaniFaculty of Mechanical Engineering, University of Guilan, Rasht, IranAli NahviK.N. Toosi University of TechnologyJournal Article20150720Soft tissue modeling for the creation of a haptic simulator for training medical skills has been the focus of many attempts up to now. In soft tissue modeling the most important parameter considered is its being real-time, as well as its accuracy and sensitivity. In this paper, ANFIS approach is used to present a nonlinear model for soft tissue. The required data for training the neuro-fuzzy model of soft tissue is provided from breast tissue numerical modeling in ANSYS 12.0 software. To validate the ANSYS mode, numerical data have been compared with the experimental data with an average error of less than 3%. On the other hand, for the validation of ANFIS model, testing session indicates a root mean square error of less than 0.02 (N), which shows the high degree of accuracy for the presented model. To evaluate the efficiency of this model, it has been used in the breast cancerous tumors diagnosis training haptic simulator. The presented model’s real-time feature is about 100 times more than the maximum amount needed for force modeling simulations.
Neuro-Fuzzy
haptic simulation
soft tissue modeling
breast cancer
http://ijr.kntu.ac.ir/article_43094_5110b7f7ad20efa7b3a5d999070d78d5.pdf